In this paper,a visual-based robotic fish was designed according to boxfish. Underwater image information was collected through visual sensor,processed and recognized. Then it makes decision to control the movement by itself according to identification result. System has S3C2240 as the core,it collects various effective information through sensors in embedded Linux environment,and then control servos realize its 3-dimensional movement include rising,descending and turn. The experimental results show that the system has the high real-time and good flexibility.%该文以自然界中的盒子鱼为原型,设计了一款基于自主视觉的机器鱼,通过图像传感器采集水下图像信息并进行处理和识别,并根据识别结果做出决策控制自身运动.系统以S3C2440为核心,在嵌入式Linux环境下通过传感器采集各种有效信息,并控制舵机实现自身上升、下潜和转弯等三维运动.本文设计了一种针对自主鱼的水球比赛实验,实验结果显示,该系统具有较高的实时性和很好的灵活性.
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